How Magnetic Disturbance Influences the Attitude and Heading in Magnetic and Inertial Sensor-Based Orientation Estimation.
How Magnetic Disturbance Influences the Attitude and Heading in Magnetic and Inertial Sensor-Based Orientation Estimation.
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DOI：
10.3390/s18010076
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发表时间：
2017-12-28
期刊：
影响因子：
--
通讯作者：
Liu T
中科院分区：
文献类型：
--
作者：
Fan B;Li Q;Liu T
随着微机电系统（MEMS）技术的发展，磁传感器和惯性传感器正朝着精度高、重量轻、体积小、成本低等方向发展，这也促进了它们在人体运动分析中的应用。然而，在传感器方位估计领域中仍然存在挑战，其中磁干扰是限制其实际应用的障碍之一。系统地分析了磁干扰对磁惯性敏感器姿态和航向估计的影响。首先，我们回顾了处理磁干扰的四个主要组成部分，即解耦姿态估计与磁阅读，陀螺仪的偏差估计，自适应补偿磁干扰的策略和传感器融合算法。我们回顾和分析了现有的方法的特点，每个组件。其次，为了理解磁干扰抑制的各个组成部分，实现了四种代表性的传感器融合方法，包括梯度下降算法，改进的显式互补滤波，双线性卡尔曼滤波和扩展卡尔曼滤波。最后，一个新的标准化的测试程序已经开发，以客观地评估每种方法对磁干扰的性能。根据测试结果，分析了现有传感器融合方法的优缺点，并对选择合适的融合算法或开发新的融合方法提出了建议。
With the advancements in micro-electromechanical systems (MEMS) technologies, magnetic and inertial sensors are becoming more and more accurate, lightweight, smaller in size as well as low-cost, which in turn boosts their applications in human movement analysis. However, challenges still exist in the field of sensor orientation estimation, where magnetic disturbance represents one of the obstacles limiting their practical application. The objective of this paper is to systematically analyze exactly how magnetic disturbances affects the attitude and heading estimation for a magnetic and inertial sensor. First, we reviewed four major components dealing with magnetic disturbance, namely decoupling attitude estimation from magnetic reading, gyro bias estimation, adaptive strategies of compensating magnetic disturbance and sensor fusion algorithms. We review and analyze the features of existing methods of each component. Second, to understand each component in magnetic disturbance rejection, four representative sensor fusion methods were implemented, including gradient descent algorithms, improved explicit complementary filter, dual-linear Kalman filter and extended Kalman filter. Finally, a new standardized testing procedure has been developed to objectively assess the performance of each method against magnetic disturbance. Based upon the testing results, the strength and weakness of the existing sensor fusion methods were easily examined, and suggestions were presented for selecting a proper sensor fusion algorithm or developing new sensor fusion method.
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发表时间：
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期刊：
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